Script for controlling 2 DC-motors and a gripper-servo using buttons
Dependencies: MODSERIAL QEI Servo mbed
main.cpp
- Committer:
- huismaja
- Date:
- 2016-10-11
- Revision:
- 9:cca4d4084775
- Parent:
- 8:9c58ca13076e
- Child:
- 10:cf579c3eaf01
File content as of revision 9:cca4d4084775:
#include "mbed.h" #include "MODSERIAL.h" #include "Servo.h" #include "QEI.h" QEI encoder_M1 (D9, D10, NC, 8400); QEI encoder_M2 (D11, D12, NC, 8400); Ticker encoder_M1_ticker; Ticker encoder_M2_ticker; DigitalOut Direction_M1(D4); //To control the rotation direction of the arm PwmOut Speed_M1(D5); //To control the rotation speed of the arm PwmOut Speed_M2(D6); //To control the translation direction of the arm DigitalOut Direction_M2(D7); //To control the translation speed of the arm Servo gripper_servo(D13); //To control the gripper (Note: D8=PTC12) InterruptIn Switch_1(SW2); //To control the rotation to the left InterruptIn Switch_2(SW3); //To control the rotation to the right InterruptIn Switch_3(D2); //To control the translation of the arm InterruptIn Switch_4(D3); //To control the gripper int counter_rotation_left=0; //To count the number of times the rotation_left switch (switch_1) has been pushed int counter_rotation_right=0; //To count the number of times the rotation_right switch (switch_2) has been pushed int counter_translation=0; //To count the number of times the translation switch (switch_3) has been pushed int counter_gripper=0; //To count the number of times the gripper switch (switch_4) has been pushed MODSERIAL pc(USBTX, USBRX); //To make connection with the PC const double pi = 3.1415926535897; double speed_rotation=pi/5; //in rad/sec double speed_translation=pi/5; //in rad/sec double speedM1=speed_rotation/8.4; double speedM2=speed_translation/8.4; void read_position_M1(){ int pulses_M1 = encoder_M1.getPulses(); float angle_M1 = float(pulses_M1)/4200*2.0*pi; pc.printf("%i \t%f \t", pulses_M1, angle_M1); } void read_position_M2(){ int pulses_M2 = encoder_M2.getPulses(); float angle_M2 = float(pulses_M2)/4200*2.0*pi; pc.printf("%i \t%f \n", pulses_M2, angle_M2); } void rotation_left (){ switch (counter_rotation_left){ case 1: //For activating the rotation to the left Direction_M1 = 1; //The arm will rotate to the left Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec pc.printf("The arm will now rotate to the left with %f rad/sec \n", speedM1); wait(0.5f); break; case 2: //For stopping the rotation to the left Direction_M1 = 1; //The arm will rotate to the left Speed_M1 = 0; //The motor is turned off pc.printf("The arm will now stop rotating to the left \n"); wait(0.5f); break; } } void switch_counter_rotation_left (){ //To count the number of times the rotation_left switch (switch_1) has been pushed counter_rotation_left++; if (counter_rotation_left > 2){ counter_rotation_left=1; } rotation_left(); } void rotation_right (){ switch (counter_rotation_right){ case 1: //For activation the rotation to the right Direction_M1 = 0; //The arm will rotate to the right Speed_M1 = speedM1; //The motor is turned on at speed_rotation rad/sec pc.printf("The arm will now rotate to the right with %f rad/sec \n", speedM1); wait(0.5f); break; case 2: //For stopping the rotation to the right Direction_M1 = 0; //The arm will rotate to the right Speed_M1 = 0; //The motor is turned off pc.printf("The arm will now stop rotating to the right \n"); wait(0.5f); break; } } void switch_counter_rotation_right (){ //To count the number of times the rotation_right switch (switch_2) has been pushed counter_rotation_right++; if (counter_rotation_right> 2){ counter_rotation_right=1; } rotation_right(); } void translation (){ switch (counter_translation){ case 1: //For activating the elongation of the arm Direction_M2 = 1; //The arm will get longer Speed_M2 = speedM2; //The motor is turned on at speed_rotation rad/sec pc.printf("The arm will now get longer \n"); wait(0.5f); break; case 2: //For stopping the elongation of the arm Direction_M2 = 1; //The arm will get longer Speed_M2 = 0; //The motor is turned off pc.printf("The arm will now stop getting longer \n"); wait(0.5f); break; case 3: //For activating the shortening of the arm Direction_M2 = 0; //The arm will get shorter Speed_M2 = speedM2; //The motor is turned on at speed_rotation rad/sec pc.printf("The arm will now get shorter \n"); wait(0.5f); break; case 4: //For stopping the shortening of the arm Direction_M2 = 0; //The arm will get shorter Speed_M2 = 0; //The motor is turned off pc.printf("The arm will now stop getting shorter \n"); wait(0.5f); break; } } void switch_counter_translation (){ //To count the number of times the translation switch (switch_3) has been pushed counter_translation++; if (counter_translation > 4){ counter_translation=1; } translation(); } void gripper (){ switch (counter_gripper){ case 1: gripper_servo = 0; //The gripper is now closed pc.printf("The gripper will now close \n"); wait(0.5f); break; case 2: gripper_servo = 1; //The gripper is now open pc.printf("The gripper will now open \n"); wait(0.5f); break; } } void switch_counter_gripper (){ //To count the number of times the gripper switch (switch_4) has been pushed counter_gripper++; if (counter_gripper> 2){ counter_gripper=1; } gripper(); } int main(){ pc.baud(115200); pc.printf("RESET \n"); Direction_M1 = 1; //The arm will initially get longer Speed_M1 = 0; //The first motor is initially turned off Direction_M2 = 255; //The arm will initially turn left Speed_M2 = 0; //The second motor is initially turned off gripper_servo = 1; //The gripper is initially open encoder_M1.reset(); encoder_M2.reset(); encoder_M1_ticker.attach(&read_position_M1,0.5); encoder_M2_ticker.attach(&read_position_M2,0.5); Switch_1.rise(&switch_counter_rotation_left); Switch_2.rise(&switch_counter_rotation_right); Switch_3.rise(&switch_counter_translation); Switch_4.rise(&switch_counter_gripper); while (true); }